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# Copyright (c) 2011 Bastian Venthur
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
import logging
"""
This module provides access to the data provided by the AR.Drone.
"""
import threading
import select
import socket
import multiprocessing
import libardrone
class ARDroneNetworkProcess(threading.Thread):
"""ARDrone Network Process.
This process collects data from the video and navdata port, converts the
data and sends it to the IPCThread.
"""
def __init__(self, com_pipe, is_ar_drone_2, drone):
threading.Thread.__init__(self)
self._drone = drone
self.com_pipe = com_pipe
self.is_ar_drone_2 = is_ar_drone_2
self.stopping = False
if is_ar_drone_2:
import ar2video
self.ar2video = ar2video.ARVideo2(self._drone, libardrone.DEBUG)
else:
import arvideo
def run(self):
def _connect():
logging.warn('Connection to ardrone')
if self.is_ar_drone_2:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
video_socket.connect(('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
video_socket.setblocking(0)
else:
video_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
video_socket.setblocking(0)
video_socket.bind(('', libardrone.ARDRONE_VIDEO_PORT))
video_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_VIDEO_PORT))
nav_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
nav_socket.setblocking(0)
nav_socket.bind(('', libardrone.ARDRONE_NAVDATA_PORT))
nav_socket.sendto("\x01\x00\x00\x00", ('192.168.1.1', libardrone.ARDRONE_NAVDATA_PORT))
control_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
control_socket.connect(('192.168.1.1', libardrone.ARDRONE_CONTROL_PORT))
control_socket.setblocking(0)
logging.warn('Connection established')
return video_socket, nav_socket, control_socket
def _disconnect(video_socket, nav_socket, control_socket):
logging.warn('Disconnection to ardrone streams')
video_socket.close()
nav_socket.close()
control_socket.close()
video_socket, nav_socket, control_socket = _connect()
self.stopping = False
connection_lost = 1
reconnection_needed = False
while not self.stopping:
if reconnection_needed:
_disconnect(video_socket, nav_socket, control_socket)
video_socket, nav_socket, control_socket = _connect()
reconnection_needed = False
inputready, outputready, exceptready = select.select([nav_socket, video_socket, self.com_pipe, control_socket], [], [], 1.)
if len(inputready) == 0:
connection_lost += 1
reconnection_needed = True
for i in inputready:
if i == video_socket:
while 1:
try:
data = video_socket.recv(65536)
if self.is_ar_drone_2:
self.ar2video.write(data)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
# Sending is taken care of by the decoder
if not self.is_ar_drone_2:
w, h, image, t = arvideo.read_picture(data)
self._drone.set_image(image)
elif i == nav_socket:
while 1:
try:
data = nav_socket.recv(500)
except IOError:
# we consumed every packet from the socket and
# continue with the last one
break
navdata, has_information = libardrone.decode_navdata(data)
if (has_information):
self._drone.set_navdata(navdata)
elif i == self.com_pipe:
_ = self.com_pipe.recv()
self.stopping = True
break
elif i == control_socket:
reconnection_needed = False
while not reconnection_needed:
try:
data = control_socket.recv(65536)
if len(data) == 0:
logging.warning('Received an empty packet on control socket')
reconnection_needed = True
else:
logging.warning("Control Socket says : %s", data)
except IOError:
break
_disconnect(video_socket, nav_socket, control_socket)
def terminate(self):
self.stopping = True
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